Simplify implementation of CallbackQueue::callOne() #1
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meyerj
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Replace duplicate wait_for() call in CallbackQueue::callOne() with a loop and a call to wait_until().
meyerj
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meyerj
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Jul 31, 2020
…ely if timeout.isZero() ... and if none of the other result conditions holds (i.e. the queue is Empty or Disabled).
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I created ros#2014 to run CI for this change and be able to merge it. |
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I was working on an ABI-compatible solution for ros#1545 because we were also affected by this problem. Only afterwards I found your PR ros#1684 based on what @peci1 suggested in ros#1608. I came up with a similar solution and merged it at the end. Maybe it would be good to explicitly reference ros#1684 in ros#1608 and close the latter?
I suggest to replace the duplicate
wait_for()call inCallbackQueue::callOne()with a loop and a single call towait_until(). There is also no need to calculate the remaining duration of the timeout explicitly.The behavior is slightly different:
callOne(timeout)only returnsTryAgainif the timeout expired and none of the callbacks in the queue was ready. If one of the callbacks gets ready within the given timeout, it will be called without returning to the caller. That does not make a significant difference at the end if the caller invokescallOne()again immediately like the spinner does.I needed theBOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONICto be defined because I am currently testing with Boost 1.58 in Ubuntu 16.04 (custom melodic build) (ros#1684 (comment)). If it gets removed, theBOOST_VERSIONcheck in line 44-50 should be removed, too.I can confirm that when building in debug mode without compiler optimizations, the unit test fails without also applying ros#1651.